지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2013.6
- 수록면
- 116 - 128 (13page)
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초록· 키워드
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This paper focuses on development of a testbed for analysis of robot-terrain interaction on rough terrain and also, through one wheel driving experiments using this testbed, prediction of maximum velocity and acceleration of UGV. Firstly, from the review regarding previous researches for terrain modeling, the main variables for measurement are determined. A testbed is developed to measure main variables related to robot-terrain interaction. Experiments are performed on three kinds of rough terrains (grass, gravel, and sand) and traction-slip curves are obtained using the data of the drawbar pull and slip ratio. Traction-slip curves are used to predict driving performance of UGV on rough terrain. Maximum velocity and acceleration of UGVs are predicted by the simple kinematics and dynamics model of two kinds of 4-wheel mobile robots. And also, driving efficiency of UGVs is predicted to reduce energy consumption while traversing rough terrains.
목차
Abstract
1. 서론
2. 측정 변수
3. 주행성 분석을 위한 실험장치 개발
4. 센서 데이터 검증 실험
5. 주행성 분석 장치를 통한 UGV의 기동성 및 효율성 예측
6. 결론
References
참고문헌 (13)
참고문헌 신청
1. [학술지(정기간행물)] - Iagnemma, K. / 2004 / Mobile Robots in Rough Terrain: Estimation, Motion Planning and Control with Application to Planetary Rover / Springer tracts in advanced robotics 12
2. [학술지(정기간행물)] - Genya Ishigami / 2007 / Terramechanics-Based Model for Steering Maneuver of Planetary Exploration Rovers on Loose Soil / Journal of Field Robotics 24 (3) : 233 ~ 250
3. [단행본] - Wong J. Y / 2010 / Terramechanics and Off-road Vehicle Engineering : Terrain behavior, Off-road vehicle, Performance and Design / Elsevier
4. [단행본] - Karafiath, L. K. / 1979 / Soil Mechanics for Off Road Vehicle Engineering / Trans Tech Publications
5. [학술지(정기간행물)] - Liu, C.H. / / Numerical simulations of tiresoil interaction based on critical state soil mechanics / Journal of Terramechanics 33 (5) : 209 ~ 221
2. [학술지(정기간행물)] - Genya Ishigami / 2007 / Terramechanics-Based Model for Steering Maneuver of Planetary Exploration Rovers on Loose Soil / Journal of Field Robotics 24 (3) : 233 ~ 250
3. [단행본] - Wong J. Y / 2010 / Terramechanics and Off-road Vehicle Engineering : Terrain behavior, Off-road vehicle, Performance and Design / Elsevier
4. [단행본] - Karafiath, L. K. / 1979 / Soil Mechanics for Off Road Vehicle Engineering / Trans Tech Publications
5. [학술지(정기간행물)] - Liu, C.H. / / Numerical simulations of tiresoil interaction based on critical state soil mechanics / Journal of Terramechanics 33 (5) : 209 ~ 221
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UCI(KEPA) : I410-ECN-0101-2020-559-001258688